發(fā)布時(shí)間：2018-10-29 12:07

【摘要】：本文提出將空間單閉鏈連桿機(jī)構(gòu)整體用作兩足步行機(jī)器人的理念。對(duì)含R副和C副的空間單閉鏈四桿和六桿兩足步行機(jī)構(gòu)進(jìn)行了系統(tǒng)化研究,包括理論研究、仿真研究、實(shí)驗(yàn)研究及典型案例的應(yīng)用研究。 首先,提出一種空間單閉鏈四桿RCCR機(jī)構(gòu)的非傳統(tǒng)應(yīng)用,把它用作內(nèi)外足嵌套布置的新概念兩足步行機(jī)構(gòu)。利用機(jī)構(gòu)在奇異位形位置時(shí)對(duì)兩個(gè)電機(jī)的驅(qū)動(dòng)與控制實(shí)現(xiàn)行進(jìn)與轉(zhuǎn)向運(yùn)動(dòng)。進(jìn)行自由度分析、行走模式分析、運(yùn)動(dòng)學(xué)分析、足端工作空間分析和穩(wěn)定性分析。設(shè)計(jì)、加工制作原理樣機(jī)并進(jìn)行了行走實(shí)驗(yàn),驗(yàn)證提出概念的可行性。 其次,在空間單閉鏈四桿RCCR兩足步行機(jī)構(gòu)的基礎(chǔ)之上,進(jìn)行橫向拓展,通過(guò)機(jī)構(gòu)綜合法、試湊法、靈感和直覺(jué),提出含有兩個(gè)轉(zhuǎn)動(dòng)副和兩個(gè)圓柱副的空間四桿兩足步行機(jī)構(gòu)家族,該家族包含三大類八個(gè)構(gòu)型。提出的構(gòu)型利用奇異位形實(shí)現(xiàn)行走和轉(zhuǎn)向。對(duì)每類構(gòu)型進(jìn)行了自由度分析、足端工作空間分析、關(guān)鍵要素設(shè)計(jì)準(zhǔn)則制定、運(yùn)動(dòng)學(xué)分析和穩(wěn)定性分析。建立了虛擬樣機(jī)并進(jìn)行了行走仿真分析,加工制造了四臺(tái)原理樣機(jī)驗(yàn)證了所提構(gòu)型的可行性。 然后,在空間單閉鏈四桿RCCR兩足步行機(jī)構(gòu)的基礎(chǔ)之上,進(jìn)行縱向拓展,提出兩個(gè)新型的空間單閉鏈六桿機(jī)構(gòu)。分別是空間單閉鏈六桿RRCRCR和RRCCRR機(jī)構(gòu),并提出將這兩個(gè)機(jī)構(gòu)作為兩足步行機(jī)構(gòu),研究工作包括： (1)針對(duì)所提出的空間六桿RRCRCR兩足步行機(jī)構(gòu),規(guī)劃三種行走模式,分別是間斷調(diào)整行走模式、奇異位置調(diào)整行走模式和任意位置調(diào)整行走模式。進(jìn)行自由度分析、足端工作空間分析和行走軌跡分析、運(yùn)動(dòng)學(xué)分析和穩(wěn)定性分析,制定兩足設(shè)計(jì)準(zhǔn)則。設(shè)計(jì)制作原理樣機(jī)驗(yàn)證提出概念的合理性。隨后,提出潛在的應(yīng)用場(chǎng)合并規(guī)劃和分析了球面和柱面兩種操作模式。 (2)提出的空間六桿RRCCRR兩足步行機(jī)構(gòu)能通過(guò)爬行和翻跟斗兩種行走模式到達(dá)平面任意位置。接下來(lái),轉(zhuǎn)換到操作模式完成操作任務(wù)。進(jìn)行了自由度分析、行走模式分析、操作模式分析、工作空間分析、運(yùn)動(dòng)學(xué)分析和穩(wěn)定性分析。最后,將其應(yīng)用作為一臺(tái)兩足3T升降機(jī),加工制作兩足3T升降機(jī)樣機(jī)并進(jìn)行行走和操作實(shí)驗(yàn)。這是在應(yīng)用層面,把少用于工業(yè)領(lǐng)域的兩足機(jī)器人用作具有操作能力的步行移動(dòng)平臺(tái)的一個(gè)新嘗試。 最后,進(jìn)行全文總結(jié)和展望。探索了一類包含Schatz6R爬行機(jī)構(gòu)和兩足Schatz6R滑行機(jī)構(gòu)的單閉鏈空間六桿Schatz6R移動(dòng)機(jī)構(gòu)。提出基于Schatz6R(?)爬行機(jī)構(gòu)的組合式移動(dòng)機(jī)構(gòu),并對(duì)空間單閉鏈移動(dòng)連桿機(jī)構(gòu)的應(yīng)用前景進(jìn)行展望。
[Abstract]:In this paper, the idea of using spatial single closed linkage mechanism as a biped walking robot is presented. A systematic study on space single closed chain four-bar and six-bar biped walking mechanism with R pair and C pair is carried out, including theoretical research, simulation study, experimental study and application study of typical cases. First of all, a new concept of biped walking mechanism with inner and outer foot nesting is proposed, which is used as a non-traditional application of spatial single-closed-chain four-bar RCCR mechanism. The driving and steering motion of the two motors is realized by the mechanism driving and controlling the two motors in the singular position. Freedom analysis, walking mode analysis, kinematics analysis, foot workspace analysis and stability analysis. Design and manufacture the prototype and carry out the walking experiment to verify the feasibility of the proposed concept. Secondly, on the basis of the spatial single-closed-chain four-bar RCCR biped walking mechanism, the lateral expansion is carried out, through the mechanism synthesis method, the trial method, the inspiration and intuition, A family of spatial four-bar biped walking mechanisms with two rotating pairs and two cylindrical pairs is proposed. The family consists of three classes and eight configurations. The proposed configuration uses singular configurations to realize walking and steering. The degree of freedom analysis, foot workspace analysis, design criteria for key elements, kinematics analysis and stability analysis are carried out for each configuration. The virtual prototype was established and the walking simulation was carried out. Four principle prototypes were manufactured to verify the feasibility of the proposed configuration. Then, based on the RCCR biped walking mechanism of space single closed chain, two new space single closed chain six bar mechanisms are proposed. The spatial single-link six-bar RRCRCR and the RRCCRR mechanism are proposed as biped walking mechanisms. The research work includes: (1) for the proposed spatial six-bar RRCRCR biped walking mechanism, three walking modes are planned. They are intermittent adjusting walking mode, singular position adjusting walking mode and arbitrary position adjusting walking mode. The degree of freedom analysis, foot workspace analysis and walking track analysis, kinematics analysis and stability analysis are carried out, and biped design criteria are established. The design and manufacture principle prototype verifies the rationality of the proposed concept. Then, the potential applications are proposed and two operation modes, spherical and cylindrical, are planned and analyzed. (2) the spatial six-bar RRCCRR biped walking mechanism can reach any position of the plane through two walking modes of crawling and somersault. Next, switch to operation mode to complete the operation task. Freedom analysis, walking mode analysis, operation mode analysis, workspace analysis, kinematics analysis and stability analysis are carried out. Finally, it is used as a bipedal 3T lift, and the prototype of biped 3T elevator is manufactured, and the walking and operation experiments are carried out. This is a new attempt to use biped robot, which is rarely used in industry, as a walking mobile platform with operational ability. Finally, the full text is summarized and prospected. A class of six-bar Schatz6R moving mechanism with single closed chain space including Schatz6R crawling mechanism and biped Schatz6R glide mechanism is investigated. Based on Schatz6R (?) The combined moving mechanism of crawling mechanism and the prospect of application of spatial single closed chain moving linkage mechanism are prospected.
【學(xué)位授予單位】：北京交通大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2013
【分類號(hào)】：TH112

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